• Journal of Advanced Marine Engineering and Technology
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• 제33권5호
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• pp.713-720
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• 2009

Numerous applications of position controlling devices using servoing technique and transmission of energy through belt drives are practiced in the industry. Belt drive is a simple, lightweight, low cost power transmission system. Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. In this paper, precision positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method is demonstrated through computer simulation and experimental results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2608-2610
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• 2000

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method will be used to estimate the vehicle parameters, mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration will be chosen to design the state observer for the vehicle velocity and acceleration. It will be shown that the proposed observer is exponentially stable, and that the adaptive controller proposed in this paper is stable. It will be proved that the errors of the relative distance, velocity and acceleration converge to zero asymptotically fast, and that the overall system is also asymptotically stable. The simulation results are presented to investigate the effectiveness of the proposed method.

• Earthquakes and Structures
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• 제7권3호
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• pp.385-400
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• 2014

Pounding damage to bridges and buildings is observed in most major earthquakes. The damage mainly occurs in reinforced concrete slabs, e.g. building floors and bridge decks. This study presents the results from pounding of reinforced concrete slabs. A parametric investigation was conducted involving the mass of the pendulums, the relative velocities of impact and the geometry of the contact surface. The effect of these parameters on the coefficient of restitution and peak impact acceleration is shown. In contrast to predictions from numerical force models, it was observed that peak acceleration is independent of mass. The coefficient of restitution is affected by the impact velocity, total participating mass and the mass ratio of striker and struck block.

• 한국지반공학회논문집
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• 제18권2호
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• pp.39-49
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• 2002

본 연구에서는 지반-말뚝 상호작용을 고려한 동해석을 위한 해석기법의 제안과 이의 검증을 위한 진동실험을 실시하였다. 일정한 가속도에서 단독말뚝과 중심간격 2.5d(d=직경)인 2$\times$2 군말뚝의 휨모멘트 값을 측정한 결과 주파수에 관계없이 지표면으로부터 깊이 4d 미만에서 단독말뚝과 군말뚝의 휨모멘트값이 최대가 되었으며 그 값은 단독, 군말뚝 모두 일치하였으나 지표면으로부터 깊이 4d이하에서는 단독말뚝은 군말쪽에 비해 휨모멘트 값이 커지는 경향을 보였다. 진동대 실험에서 측정한 입력가속도를 수치해석에서 지진가속도로 하여 해석한 결과 단독말뚝과 군말뚝 모두 지표면으로부터 4d 미만의 상부부분에서는 실험값과 비슷한 결과를 얻었으나 군말뚝의 경우 지표면으로부터 4d 이상의 부분에서는 실험 값과는 상이한 결과를 얻었다.

• 한국해양공학회지
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• 제24권1호
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• pp.1-9
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• 2010

A series of experiments employing particle image velocimetry (PIV) technique was conducted to produce benchmark wave kinematics data for regular waves having four different wave slopes in 2-D wave tank. Water velocities and accelerations near the free surface of regular waves were computed from image pair obtained by PIV systems. With the measured wave velocity field, the wave accelerations were computed using a centered finite difference scheme. Both local and convective components of the total accelerations are obtained from experimental data. With increasing the wave slope, the horizontal velocity and the vertical accelerations near the wave crest obtained by PIV technique became larger than theoretical results, which are well-known phenomena of the wave nonlinearity. It is noted that the relative magnitude of convective acceleration to the local acceleration became larger with increasing wave slope.

• Nuclear Engineering and Technology
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• 제43권4호
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• pp.361-374
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• 2011

Two types of numerical modeling techniques were considered for the dynamic response of a structure subjected to a ground acceleration. One technique is based on the equation of motion relative to ground motion, and the other is based on the equation of absolute motion of the structure and the ground. The analytic background of the former is well established while the latter has not yet been extensively verified. The latter is called a large mass method, which allocates an appropriate large mass to the ground so that it causes the ground to move according to a given acceleration time history. In this paper, through the use of a single degree-of-freedom spring-mass system, the equations of motion of the two techniques were analyzed and useful theorems are provided on the large mass method. Using simple examples, the numerical results of the two modeling techniques were compared with analytic solutions. It is shown that the theorems provide a clear insight on the large mass method.

• 대한건축학회논문집:구조계
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• 제35권11호
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• pp.129-136
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• 2019

Non-structural elements are vulnerable to earthquake ground motion. In this study, an experimental study for the electrical non-structural element was performed using tri-axial shaking table tests. A 100kVA UPS(Uninterruptible Power Supply system) was used as the test specimen. The test specimen was anchored to the concrete slab using the conventional installation detail. The input acceleration were generated in accordance with ICC-ES AC156 code. Scale factors of the input acceleration with respect to the required response spectrum defined in ICC-ES AC156 were from 25% to 600%. Based on the test results, damage and dynamic characteristics of UPS were evaluated and analyzed including natural frequency, damping ratio, acceleration time history response, dynamic amplification factor and relative displacement.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.962-969
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• 2007

In this paper, an approach is developed for relative state estimation of satellite formation flying. To estimate relative states of two satellites, the Extended Kalman Filter Algorithm is adopted with the relative distance and speed between two satellites and attitude of satellite for measurements. Numerical simulations are conducted under two circumstances. The first one presents both chief and deputy satellites are orbiting a circular reference orbit around a perfectly spherical Earth model with no disturbing acceleration, in which the elementary relative orbital motion is taken into account. In reality, however, the Earth is not a perfect sphere, but rather an oblate spheroid, and both satellites are under the effect of $J_2$ geopotential disturbance, which causes the relative distance between two satellites to be on the gradual increase. A near-Earth orbit decays as a result of atmospheric drag. In order to remove the modeling error, the second scenario incorporates the effect of the $J_2$ geopotential force, and the atmospheric drag, and the eccentricity in satellite orbit are also considered.

• 한국공작기계학회논문집
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• 제12권2호
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• pp.71-78
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• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the variables are tightly coupled by the position, velocity, and acceleration level coordinates, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all variables, which are coupled by the constraints. The position velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The Perturbed constraint equations are then simultaneously solved for variations of all variables only in terms of the variations of the independent variables. Finally, the relationships between the variations of all variables and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent variables variations.

• International Journal of Railway
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• 제4권4호
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• pp.93-96
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• 2011

The basic element of the EMS suspension is the electromagnet system, which suspends the vehicle without contact by attracting forces to the rails at the guideway. The suspension of a vehicle by attractive magnetic forces is inherently unstable and consequently it is continuously adjusted by the strength of the suspending electromagnet from rail irregularity and bending of the guideway. In order to improve reliable tracking, it needs to get feedback signals without measurement delay time. In this paper the concept of feedback control system with Kalman Filter in EMS is proposed. The input signals in the feedback control system are an air-gap and an acceleration signal. The air-gap signal with noise from the gap sensor is transformed to the filtered air-gap signal y without measurement delay time by using Kalman Filter. The filtered air-gap signal is transformed to a relative velocity and a relative acceleration signal. Then it multiplies these values by gain matrix in order to get the actuator's reference voltage value. The simulation results show that the dynamic responses of the suspension system can be improved by reducing the influence of measurement delay time of air-gap signals.